CN1267587A - Spatial three-freedom parallel robot mechanism - Google Patents
Spatial three-freedom parallel robot mechanism Download PDFInfo
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- CN1267587A CN1267587A CN 00105937 CN00105937A CN1267587A CN 1267587 A CN1267587 A CN 1267587A CN 00105937 CN00105937 CN 00105937 CN 00105937 A CN00105937 A CN 00105937A CN 1267587 A CN1267587 A CN 1267587A
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Abstract
The present invention belongs to the field of industrial robot. The robot mechanism consists of one frame, one moving stage and three branches to connect the moving stage to the frame to form a parallel closed loop structure. Of the branches, each of two contains two single-freedom motion pairs and one ball articulation, and the third contains one single-freedom motion pair and one Hooke. The ends containing the moving stage and the frame are not collinear. The robot mechanism of the present invention combines the spatial shift and rotation and has the advantages of high rigidity, high accuracy, low motion mass high dynamic performance, very easy kinematics solution, etc.2
Description
The invention belongs to the industrial robot field, the spatial three-freedom parallel robot mechanism that particularly a kind of two-dimensional shift and one-dimensional rotates.
In the existing robot that roboticized job task is on active service, two class mechanisms are arranged: series connection and in parallel.Tandem is the open kinematic chain that each rod member links to each other successively by kinematic pair, and this robotlike has big working space and high flexibility, and shortcoming is: 1. because the accumulation of each rod member error causes the end piece precision very low; 2. rigidity is low; 3. inertia is big, and dynamic performance is very poor.Therefore the serial machine people is very inapplicable in the operation occasion of high location of needs and power control accuracy, and for fear of this class shortcoming, robot mechanism can adopt parallel.
Parallel robot mechanism is an a kind of closed loop mechanism, its moving platform or claim the disconnected actuator in end independently kinematic chain and frame link by at least two.A kind of key element of complete parallel institution indispensability is: a. end effector must have freedom of motion; B. this end effector links by several kinematic chains or branch and frame of being mutually related; C. each kinematic chain contains two rod members at the most; D. each branch or kinematic chain are driven by unique moving sets or revolute pair.Compare with serial mechanism, parallel institution has advantages such as rigidity height, precision height, dynamic performance are good, compact conformation, and therefore at the end of the seventies to the beginning of the eighties, parallel institution is used to the mechanism of industrial robot.At present, parallel institution particularly the parallel institution of lower-mobility (free degree is less than 6) firmly with in the industries such as torque sensor, flight simulator more and more obtain paying attention at lathe, fine motion operating desk, robot.
Parallel institution just occurred in 1949, be one in the U.S. cry height not the people of (Gough) design and detect tire, in the sixties, this mechanism is excavated again, reason is because this mechanism is more practical on flight simulator.In nineteen sixty-five, this people of Stewart (Stewart) utilizes the parallel institution of 6DOF to make a flight simulator, and this mechanism is called Stewart (Stewart) mechanism.Therefore at the beginning, parallel institution refers to Stewart (Stewart) or Gao Fu-Stewart (Gough-Stewart) mechanism of 6DOF more, parallel institution be used as one of flight simulator very important reasons be its energy anharmonic ratio height, active force on the motion platform relatively is evenly distributed on six rod members, each rod member has been equivalent to carry 1/6 active force, so its energy anharmonic ratio height, for example the weight of a parallel robot model machine is 35kg, it is carried as 600kg.But six-degree-of-freedom parallel connection mechanism brings much to people again or even an also insurmountable at present difficult problem, such as the foundation of its forward kinematics solution, kinetic model and precision calibration or the like, the obstruction that this is serious six-degree-of-freedom parallel connection mechanism in practice further application.
According to relevant document, existing disclosed parallel robot mechanism (comprising non-complete parallel institution) has 87 kinds, wherein 3,6DOF respectively account for 40%, 4DOF account for 6%, 5DOF account for 3.5%, the parallel institution of 2DOF accounts for 10.5%.In 40% existing 3-freedom parallel mechanism, have plenty of plane mechanism, have plenty of spherical mechanism, have plenty of three-dimensional pure travel mechanism, also have plenty of its motion of the point different and be difficult to definite space mechanism in the space.(R represents revolute pair as be suggested the 3-RPS that studies so far for a long time both at home and abroad in nineteen eighty-three, P represents moving sets, S represents spherical hinge) robot mechanism, this motion of mechanism platform is to be connected with frame by three identical branches, the kinematic pair that each branch is connected with moving platform is the Three Degree Of Freedom spherical hinge, the kinematic pair that is connected with frame is a revolute pair, the motion platform rotates relative to two of frame, a mobile motion is to realize by stretching of three branches, because the axis of two rotation of position that the reference point on this mechanism's moving platform is different in the space can not arbitrarily or be difficult to provide, so this mechanism is difficult to use in practice.In existing 3-freedom parallel mechanism, shortage moves the space and rotate the spatial three-freedom parallel robot mechanism that combines and move and determine.
The parallel robot mechanism that the objective of the invention is to overcome weak point of the prior art and provide a kind of space two-dimensional shift and one-dimensional to rotate, spatial three-freedom parallel robot mechanism of the present invention organically combines moving and rotating of space; Make it have high rigidity, high accuracy, harmonic motion quality, high dynamic performance; Kinematics of mechanism is positive and negative separates plurality of advantages such as very simple.
A kind of spatial three-freedom parallel robot mechanism that the present invention proposes comprises frame, motion platform, connects the branch of motion platform and frame; It is characterized in that this motion platform is connected with frame by three branches, form parallel closed loop structure, wherein, two single dof mobility pairs, a ball pivot are respectively contained in first and second branch, and a single dof mobility pair, two Hooke's hinges are contained in the 3rd branch; The end points of three branches of said connection campaign platform and frame is not point-blank.
Said each branch can be the extensible link structure: the hinge that first and second branch wherein connects motion platform one end is the Three Degree Of Freedom ball pivot, and the kinematic pair that the other end connects frame is a revolute pair; The kinematic pair that the 3rd branch connects motion platform and frame is Hooke's hinge.
Said branch can be made of connecting rod and side link, the hinge that connects motion platform one end in wherein first and second branch is the Three Degree Of Freedom ball pivot, the other end is connected with frame by revolute pair, and connecting rod links to each other with side link by revolute pair in first and second branch; What the 3rd branch connected motion platform and frame is respectively Hooke's hinge and revolute pair; Connecting rod links to each other with side link by Hooke's hinge in the 3rd branch.
The present invention compared with prior art has following advantage:
1, parallel robot mechanism of the present invention is compared with traditional tandem robot mechanism, has high rigidity, high accuracy, harmonic motion quality, characteristics such as high dynamic performance;
2, parallel robot mechanism kinematics of the present invention positive and negative separate very simple;
3, spatial three-freedom parallel robot mechanism of the present invention organically combines the mobile and rotation in space;
4, the motion platform of spatial three-freedom parallel robot mechanism of the present invention has clear and definite forms of motion: move in two in space, a rotation;
5, three-freedom parallel robot mechanism of the present invention has a wide range of applications in the operation of three spatial movements of needs.
Brief Description Of Drawings:
Fig. 1 is one of embodiment of spatial three-freedom parallel robot mechanism of the present invention general structure schematic diagram;
Fig. 2 is the two general structure schematic diagrames of the embodiment of spatial three-freedom parallel robot mechanism of the present invention.
Below in conjunction with accompanying drawing embodiments of the invention are described in further detail:
Embodiment 1: one of spatial three-freedom parallel robot mechanism
The general structure of present embodiment as shown in Figure 1, this motion of mechanism platform 4 is connected with frame 1 by three extensible link 3,8,10, wherein the kinematic pair of connecting rod 3,8 connection motion platforms 4 one ends is a Three Degree Of Freedom ball pivot 5,6, and the kinematic pair that the other end connects frame 1 is a revolute pair 2,9; The kinematic pair that connecting rod 10 connects motion platform 4 and frame 1 is respectively Hooke's hinge 7 and 11.Motion platform 4 realizes by moving of three extensible link 3,8,10 that the two dimension on connecting rod 3 and plane, 8 place moves and around the three-dimensional space motion of the rotation of the axis of hinge 5 and 6.
Embodiment 2: two of spatial three-freedom parallel robot mechanism
The general structure of present embodiment as shown in Figure 2, this motion of mechanism platform 18 is respectively by by connecting rod 16,21, side link 14,23, first and second branch of formation is connected with frame 12 with the 3rd branch that is made of connecting rod 27 and side link 25.The kinematic pair that connecting rod 16,21 connects motion platform 18 1 ends is a Three Degree Of Freedom ball pivot 17,19, and the other end is connected with side link 14,23 by revolute pair 15,22; The kinematic pair that connecting rod 27 connects motion platform 18 and side link 25 is respectively Hooke's hinge 20 and 28; Side link 14,23,25 is connected with frame by revolute pair 13,24,26 respectively.The rotation of motion platform 18 by three side links 14,23,25 realizes that the two dimension on connecting rod 14 and plane, 23 place moves and around the three-dimensional space motion of the rotation of the axis of hinge 17 and 19.
Claims (3)
1, a kind of spatial three-freedom parallel robot mechanism comprises frame, motion platform, connects the branch of motion platform and frame; It is characterized in that this motion platform is connected with frame by three branches, form parallel closed loop structure, wherein, two single dof mobility pairs, a ball pivot are respectively contained in first and second branch, and a single dof mobility pair, two Hooke's hinges are contained in the 3rd branch; The end points of three branches of said connection campaign platform and frame is not point-blank.
2, according to the said spatial three-freedom parallel robot mechanism of claim 1, it is characterized in that: said each branch into the extensible link structure; The hinge that first and second branch wherein connects motion platform one end is the Three Degree Of Freedom ball pivot, and the kinematic pair that the other end connects frame is a revolute pair; The kinematic pair that the 3rd branch connects motion platform and frame is Hooke's hinge.
3, according to the said spatial three-freedom parallel robot mechanism of claim 1, it is characterized in that: said branch is made of connecting rod and side link, the hinge that connects motion platform one end in wherein first and second branch is the Three Degree Of Freedom ball pivot, the other end is connected with frame by revolute pair, and connecting rod links to each other with side link by revolute pair in first and second branch; What the 3rd branch connected motion platform and frame is respectively Hooke's hinge and revolute pair; Connecting rod links to each other with side link by Hooke's hinge in the 3rd branch.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 00105937 CN1112282C (en) | 2000-04-21 | 2000-04-21 | Spatial three-freedom parallel robot mechanism |
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| CN 00105937 CN1112282C (en) | 2000-04-21 | 2000-04-21 | Spatial three-freedom parallel robot mechanism |
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| CN1267587A true CN1267587A (en) | 2000-09-27 |
| CN1112282C CN1112282C (en) | 2003-06-25 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100369718C (en) * | 2005-12-09 | 2008-02-20 | 河北理工大学 | Two freedom globoid space motion parallel connection mechanism |
| CN101249651B (en) * | 2008-04-09 | 2010-06-09 | 东华大学 | Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism |
| CN102062188A (en) * | 2010-11-05 | 2011-05-18 | 山东理工大学 | Double-input synchronous drive interface module |
| CN102211329A (en) * | 2011-06-02 | 2011-10-12 | 常州大学 | Five-degree-of-freedom spatial series-parallel operating platform |
| CN102922515A (en) * | 2012-11-12 | 2013-02-13 | 天津理工大学 | Two-rotation one-movement parallel mechanism capable of realizing motion decoupling |
| CN103056870A (en) * | 2012-12-26 | 2013-04-24 | 燕山大学 | Two-rotating one-moving three-freedom-degree parallel mechanism |
| CN104551714A (en) * | 2015-01-08 | 2015-04-29 | 清华大学 | Parallel mechanism with spatial two rotation and one translation freedom degrees |
| CN105643295A (en) * | 2016-03-23 | 2016-06-08 | 中北大学 | Large-tilt-angle five-axis linkage hybrid machine tool |
| CN105903642A (en) * | 2016-06-24 | 2016-08-31 | 华南理工大学 | Micro dispensing device and method suitable for narrow slits |
| CN106112980A (en) * | 2016-07-26 | 2016-11-16 | 清华大学 | A kind of attitude regulating mechanism |
| CN109191989A (en) * | 2018-11-16 | 2019-01-11 | 上海赢浩机电设备有限公司 | 3-RPS+3-RRR type six freedom-degree motion simulator executing agency |
| CN110064195A (en) * | 2019-05-06 | 2019-07-30 | 燕山大学 | Three freedom degree movement simulation device |
| CN110509067A (en) * | 2019-07-31 | 2019-11-29 | 清华大学 | A kind of complex large-scale component original position processing multi-robot system equipment |
| CN114905489A (en) * | 2022-05-10 | 2022-08-16 | 燕山大学 | Branch inverted three-freedom parallel stable platform |
| WO2024131077A1 (en) * | 2023-08-02 | 2024-06-27 | 上海灵转动力科技有限公司 | Motion system |
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| CN1293989C (en) * | 2003-10-08 | 2007-01-10 | 杨廷力 | Zero-translation-three-rotation parallel mechanism for imaginary axis machine tool and robot |
| CN100360286C (en) * | 2006-02-28 | 2008-01-09 | 浙江工业大学 | Three-degree-of-freedom steel band parallel robot mechanism |
| CN100372657C (en) * | 2006-04-18 | 2008-03-05 | 燕山大学 | 3-degree-of-freedom 6-UPS tri-translational parallel robot |
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2000
- 2000-04-21 CN CN 00105937 patent/CN1112282C/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100369718C (en) * | 2005-12-09 | 2008-02-20 | 河北理工大学 | Two freedom globoid space motion parallel connection mechanism |
| CN101249651B (en) * | 2008-04-09 | 2010-06-09 | 东华大学 | Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism |
| CN102062188A (en) * | 2010-11-05 | 2011-05-18 | 山东理工大学 | Double-input synchronous drive interface module |
| CN102211329A (en) * | 2011-06-02 | 2011-10-12 | 常州大学 | Five-degree-of-freedom spatial series-parallel operating platform |
| CN102922515A (en) * | 2012-11-12 | 2013-02-13 | 天津理工大学 | Two-rotation one-movement parallel mechanism capable of realizing motion decoupling |
| CN103056870A (en) * | 2012-12-26 | 2013-04-24 | 燕山大学 | Two-rotating one-moving three-freedom-degree parallel mechanism |
| CN103056870B (en) * | 2012-12-26 | 2014-12-24 | 燕山大学 | Two-rotating one-moving three-freedom-degree parallel mechanism |
| CN104551714B (en) * | 2015-01-08 | 2017-02-01 | 清华大学 | Parallel mechanism with spatial two rotation and one translation freedom degrees |
| CN104551714A (en) * | 2015-01-08 | 2015-04-29 | 清华大学 | Parallel mechanism with spatial two rotation and one translation freedom degrees |
| CN105643295A (en) * | 2016-03-23 | 2016-06-08 | 中北大学 | Large-tilt-angle five-axis linkage hybrid machine tool |
| CN105903642A (en) * | 2016-06-24 | 2016-08-31 | 华南理工大学 | Micro dispensing device and method suitable for narrow slits |
| CN106112980A (en) * | 2016-07-26 | 2016-11-16 | 清华大学 | A kind of attitude regulating mechanism |
| CN109191989A (en) * | 2018-11-16 | 2019-01-11 | 上海赢浩机电设备有限公司 | 3-RPS+3-RRR type six freedom-degree motion simulator executing agency |
| CN110064195A (en) * | 2019-05-06 | 2019-07-30 | 燕山大学 | Three freedom degree movement simulation device |
| CN110064195B (en) * | 2019-05-06 | 2020-06-16 | 燕山大学 | Three-freedom-degree motion simulation device |
| CN110509067A (en) * | 2019-07-31 | 2019-11-29 | 清华大学 | A kind of complex large-scale component original position processing multi-robot system equipment |
| CN114905489A (en) * | 2022-05-10 | 2022-08-16 | 燕山大学 | Branch inverted three-freedom parallel stable platform |
| CN114905489B (en) * | 2022-05-10 | 2024-01-23 | 燕山大学 | Branched flip-chip three-degree-of-freedom parallel stable platform |
| WO2024131077A1 (en) * | 2023-08-02 | 2024-06-27 | 上海灵转动力科技有限公司 | Motion system |
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